/**
* @file rt_ekf.h in loosely_couple_h7
* @author rebeater
* @comment  real-time kalman filter
* Create on 3/23/21 4:21 PM
* @version 1.0
**/

//
// Created by rebeater on 3/23/21.
//

#ifndef LOOSELY_COUPLE_H7_RT_EKF_H
#define LOOSELY_COUPLE_H7_RT_EKF_H
/** 授时标记*/
typedef enum {
    UNTIMING = 0, /*未授时*/
    WAIT_FOR_PPS,/*GGA消息已经捕获，等待下一个pps触发授时*/
    TIMING_OK,/*本地授时完成*/
} FlagTiming;
_Noreturn void mainTask();
_Noreturn void gnssTask();
_Noreturn void OutputTask();
_Noreturn void blinkTask();
_Noreturn void SDCardStorageTask();
/*以下三个任务按顺序启动*/
_Noreturn void localTimingTask();
 void AlignTask();
// void  AlignUseDefault();
_Noreturn void LooselyCoupleMainTask();
#endif //LOOSELY_COUPLE_H7_RT_EKF_H
